CN108556234B - A kind of mold and method manufacturing soft robot - Google Patents
A kind of mold and method manufacturing soft robot Download PDFInfo
- Publication number
- CN108556234B CN108556234B CN201810448310.8A CN201810448310A CN108556234B CN 108556234 B CN108556234 B CN 108556234B CN 201810448310 A CN201810448310 A CN 201810448310A CN 108556234 B CN108556234 B CN 108556234B
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- CN
- China
- Prior art keywords
- mold
- lower mold
- undulation
- upper mold
- soft robot
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C39/00—Shaping by casting, i.e. introducing the moulding material into a mould or between confining surfaces without significant moulding pressure; Apparatus therefor
- B29C39/22—Component parts, details or accessories; Auxiliary operations
- B29C39/26—Moulds or cores
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/007—Means or methods for designing or fabricating manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C39/00—Shaping by casting, i.e. introducing the moulding material into a mould or between confining surfaces without significant moulding pressure; Apparatus therefor
- B29C39/02—Shaping by casting, i.e. introducing the moulding material into a mould or between confining surfaces without significant moulding pressure; Apparatus therefor for making articles of definite length, i.e. discrete articles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C39/00—Shaping by casting, i.e. introducing the moulding material into a mould or between confining surfaces without significant moulding pressure; Apparatus therefor
- B29C39/22—Component parts, details or accessories; Auxiliary operations
- B29C39/42—Casting under special conditions, e.g. vacuum
Abstract
The invention discloses a kind of mold and method for manufacturing soft robot, mold includes upper mold, lower mold, bed die tool and undulation；Upper mold and lower mold are contour, and upper mold is equipped with positioning groove, and lower mold is equipped with the positioning protrusion cooperated with positioning groove；Undulation is equipped with left positioning step and right positioning step, and lower mold is equipped with positioning groove at two cooperated respectively with left positioning step and right positioning step；The whole height of undulation is lower than the height of upper mold.Mould structure of the invention is simple, easy to use, and low in cost effectively and the soft robot manufactured has the special setting of class bow font air cavity, and when inflation/deflation, the deformation velocity of soft robot faster, can be used for fast moving, quick fields such as crawl.
Description
Technical field
The present invention relates to a kind of robot mold and methods, and in particular to a kind of manufacture soft robot mold and method.
Background technique
In industrial automation, mechanical arm tail end grasping movement is mainly completed by rigid mechanical gripper or vacuum chuck.
But rigid mechanical gripper is difficult to realize lossless crawl to soft, fragile object since dynamics is difficult to control.Vacuum chuck is being removed
The Special-shaped object of rough surface, aperture is difficult to adapt to during fortune.This causes the two application scenarios to there is limitation.Flexible machine
Tool hand includes flexible finger and fixing seat.Flexible finger uses elastic material, can be realized the crawl to soft, fragile object and
Damage will not be generated to object itself.
In the prior art, such as " a kind of pneumatic software gripping device " (CN104959992B) and " a kind of flexible manipulator "
(CN107322620A) patent documents, disclosed in " soft robot Review Study " (He Bin, Tongji University's journal, 2014) etc. such as
, flexible finger generally comprises finger bottom plate and Fingers face, and finger bottom plate and Fingers face define driving chamber jointly, drives
The interior shape of dynamic chamber is as shown in Fig. 1, is arranged in class comb shape.This setup cause flexible finger deformation velocity compared with
Slowly, it is easy to generate shaking by a relatively large margin in deformation process when and deformation is larger, intensity is insufficient, can not adapt in application process
Quickly the problem of crawl different shape different size target.
Summary of the invention
Present invention aim to address in order to overcome the disadvantages of the above prior art, the purpose of the present invention is to provide one kind
A kind of special soft robot mold is simply and effectively manufactured, by the soft robot that the mold produces there is class to bend word
The special setting of shape air cavity, when inflation/deflation, the deformation velocity of soft robot is faster.
To realize the present invention purpose and the technical solution adopted is that a kind of such, manufacture soft robot mold, including
Upper mold, lower mold, bed die tool and undulation.The upper mold and lower mold are contour, and the upper mold is equipped with positioning
Groove, the lower mold are equipped with the positioning protrusion cooperated with positioning groove.The undulation is equipped with left positioning step
With right positioning step, the lower mold is equipped with positioning groove at two cooperated respectively with left positioning step and right positioning step.
The whole height of the undulation is lower than the height of upper mold.
As a further improvement of the present invention, the upper mold, lower mold and bed die tool use polylactic acid PLA material system
At undulation is made of Thermoplastic polyurethane elastomer material TPU.
Invention additionally discloses a kind of methods using soft robot mold manufacture soft robot, the specific steps are as follows:
(a) upper mold and lower mold are assembled together by the cooperation of positioning groove and positioning protrusion；
(b) upper mold and lower mold are placed on bed die tool, bottom is bonded with the pit on bed die tool；
(c) undulation is put into the cavity that upper mold and lower mold are formed, and the left side on undulation is determined
Position step and right positioning step are fastened with positioning groove at two on lower mold respectively；What the bottom of undulation and bed die had
Pit fitting；
(d) upper mold, lower mold, bed die tool and undulation surround the space of an open-top；
(e) silica gel material is poured in space, is poured into the top surface of upper mold always, is advisable with not spilling over；
(f) whole to be placed into vacuum oven, remove the bubble in silica gel material；
(g) undulation is extracted out from opening after silica gel material solidification, that is, form soft robot prototype.
The solution have the advantages that unquestionable: inventive die structure is simple, easy to use, low in cost to have
Effect, and the soft robot manufactured has the special setting of class bow font air cavity, when inflation/deflation, the deformation velocity of soft robot
Faster, can be used for fast moving, quickly crawl etc. fields.
Detailed description of the invention
Fig. 1 is schematic structural view of the invention；
Fig. 2 is three dimensional structure diagram of the present invention；
Fig. 3 is three-dimensional structure explosion map of the invention；
Fig. 4 is the soft robot schematic diagram that the present invention makes.
Specific embodiment
Below with reference to embodiment, the invention will be further described, but should not be construed the above-mentioned subject area of the present invention only
It is limited to following embodiments.Without departing from the idea case in the present invention described above, according to ordinary skill knowledge and used
With means, various replacements and change are made, should all include within the scope of the present invention.
As shown in Figure 1,2 and 3, the present embodiment discloses a kind of manufacture soft robot mold, including upper mold 1, lower mold
2, bed die tool 3 and undulation 4.The upper mold 1 and lower mold 2 are contour, and the upper mold 1 is equipped with positioning groove 11,
The lower mold 2 is equipped with the positioning protrusion 21 cooperated with positioning groove 11.The undulation 4 is equipped with left and right two
Positioning step 41 and right positioning step 42, the lower mold 2 is equipped with matches with left positioning step 41 and right positioning step 42 respectively
Positioning groove 22 at two closed.The whole height of the undulation 4 is lower than the height of upper mold 1.The upper mold
1, lower mold 2 and bed die tool 3 are made of polylactic acid PLA material, and undulation 4 uses Thermoplastic polyurethane elastomer material
TPU is made.
Inventive die structure is simple, easy to use, low in cost effective, and there is the soft robot manufactured class to bend word
The special setting of shape air cavity, when inflation/deflation, the deformation velocity of soft robot faster, can be used for fast moving, quickly crawl etc.
Field.
A method of it uses and soft robot is manufactured with upper mold, the specific steps are as follows:
A) upper mold 1 and lower mold 2 are assembled together by the cooperation of positioning groove 11 and positioning protrusion 21.
B) upper mold 1 and lower mold 2 are placed on bed die tool 3, bottom is bonded with the pit 31 on bed die tool 3.
C) undulation 4 is put into the cavity that upper mold 1 and lower mold 2 are formed, and by the left side on undulation 4
Positioning step 41 and the distribution of right positioning step 42 are fastened with positioning groove 12 at two on lower mold 2.The bottom of undulation 4
It is bonded with the pit 31 of bed die tool 3.
D) upper mold 1, lower mold 2, bed die tool 3 and undulation 4 four surround the space 500 of an open-top.
E) silica gel material is cast in space 500, is poured into the top surface of upper mold 1 always, is advisable with not spilling over.
F) whole to be placed into vacuum oven, remove the bubble in silica gel material.
G) undulation 4 is extracted out from after silica gel material solidification from opening 600, that is, forms soft robot prototype 6 such as
Shown in Fig. 4.Fig. 4 is structural representation, and size shape is drawn according to the figure signal of front.In soft robot prototype
Need to carry out following process according to function, for example air inlet is added in appropriate location, addition can not expand in soft robot bottom
Layer.
Above embodiments are only the descriptions to the preferred embodiment of the present invention, are not acted as a limitation of the scope of the invention,
On the basis of not departing from design spirit of the present invention, to various modifications and transformation that technical solution of the present invention is made, it should all fall into
In the protection scope that claims of the present invention determines.
Claims (3)
1. a kind of manufacture soft robot mold, it is characterised in that: including upper mold (1), lower mold (2), bed die tool (3) and wave
Shape wave component (4)；
The upper mold (1) and lower mold (2) are contour, and the lower mold (2) is equipped with positioning groove (11), the lower mold
(2) it is equipped with the positioning protrusion (21) cooperated with positioning groove (11)；
The undulation (4) is equipped with left positioning step (41) and right positioning step (42), and the lower mold (2) is equipped with
Positioning groove (22) at two cooperated respectively with left positioning step (41) and right positioning step (42)；
The whole height of the undulation (4) is lower than the height of upper mold (1).
2. a kind of manufacture soft robot mold as described in claim 1, it is characterised in that: upper mold (1) described in wherein,
Lower mold (2) and bed die tool (3) are made of poly-lactic acid material, and undulation (4) uses thermoplastic polyurethane elastomer material
Material is made.
3. a kind of method using mold as claimed in claim 2 manufacture soft robot, which is characterized in that specific steps are such as
Under:
(a) upper mold (1) and lower mold (2) are assembled together by the cooperation of positioning groove (11) and positioning protrusion (21)；
(b) upper mold (1) and lower mold (2) are placed on bed die tool (3), bottom is pasted with the pit (31) on bed die tool (3)
It closes；
(c) undulation (4) is put into the cavity that upper mold (1) and lower mold (2) are formed, and by undulation (4)
On left positioning step (41) and right positioning step (42) fastened respectively with positioning groove (12) at two on lower mold (2)；Wave
The bottom of shape wave component (4) is bonded with the pit (31) of bed die tool (3)；
(d) upper mold (1), lower mold (2), bed die tool (3) and undulation (4) four surround the space of an open-top
(500)；
(e) silica gel material is cast in space (500), is poured into the top surface of upper mold (1) always, is advisable with not spilling over；
(f) whole to be placed into vacuum oven, remove the bubble in silica gel material；
(g) undulation (4) are extracted out at after silica gel material solidification from opening (600), that is, form soft robot prototype
(6).
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810448310.8A CN108556234B (en) | 2018-05-11 | 2018-05-11 | A kind of mold and method manufacturing soft robot |
| PCT/CN2018/113089 WO2019214177A1 (en) | 2018-05-11 | 2018-10-31 | Mold and method for manufacturing soft-bodied robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810448310.8A CN108556234B (en) | 2018-05-11 | 2018-05-11 | A kind of mold and method manufacturing soft robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108556234A CN108556234A (en) | 2018-09-21 |
| CN108556234B true CN108556234B (en) | 2019-06-04 |
Family
ID=63538686
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810448310.8A Active CN108556234B (en) | 2018-05-11 | 2018-05-11 | A kind of mold and method manufacturing soft robot |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN108556234B (en) |
| WO (1) | WO2019214177A1 (en) |
Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108556234B (en) * | 2018-05-11 | 2019-06-04 | 清华大学 | A kind of mold and method manufacturing soft robot |
| CN109733493B (en) * | 2019-02-19 | 2021-09-10 | 上海交通大学 | Software crawling adsorption robot |
| CN110142904B (en) * | 2019-06-18 | 2021-07-23 | 浙江理工大学 | Manipulator mold and using method |
| CN110478192A (en) * | 2019-08-30 | 2019-11-22 | 哈工大机器人湖州国际创新研究院 | Software auxiliary glove and its manufacturing method |
| CN111231189B (en) * | 2020-01-14 | 2021-11-02 | 鹏城实验室 | Cable-free water-driven soft robot, manufacturing mold and manufacturing method thereof |
| CN112643645B (en) * | 2020-12-09 | 2023-08-18 | 杭州电子科技大学 | Three-section soft micro robot moving in irregular hose and moving method thereof |
| CN114407004A (en) * | 2022-02-18 | 2022-04-29 | 广州大学 | Pneumatic flexible actuator |
| CN114932960A (en) * | 2022-06-07 | 2022-08-23 | 江南大学 | Soft crawling robot, forming mold and manufacturing method of soft crawling robot |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2015069360A9 (en) * | 2013-08-20 | 2015-06-25 | President And Fellows Of Harvard College | Low strain pneumatic networks for soft robots |
| CN105619379A (en) * | 2016-02-21 | 2016-06-01 | 北京航空航天大学 | Soft human-simulated finger and preparing method thereof |
| CN107813300A (en) * | 2017-12-07 | 2018-03-20 | 北京康力优蓝机器人科技有限公司 | A kind of flexible intelligent module and its manufacture method available for robot |
| CN107856044A (en) * | 2017-12-15 | 2018-03-30 | 浙江大学 | A kind of pneumatic software manipulator and preparation method |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107901310B (en) * | 2017-11-17 | 2019-04-30 | 哈尔滨工业大学 | A kind of preparation method of flexible pneumatic manipulator |
| CN108556234B (en) * | 2018-05-11 | 2019-06-04 | 清华大学 | A kind of mold and method manufacturing soft robot |
-
2018
- 2018-05-11 CN CN201810448310.8A patent/CN108556234B/en active Active
- 2018-10-31 WO PCT/CN2018/113089 patent/WO2019214177A1/en active Application Filing
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2015069360A9 (en) * | 2013-08-20 | 2015-06-25 | President And Fellows Of Harvard College | Low strain pneumatic networks for soft robots |
| CN105619379A (en) * | 2016-02-21 | 2016-06-01 | 北京航空航天大学 | Soft human-simulated finger and preparing method thereof |
| CN107813300A (en) * | 2017-12-07 | 2018-03-20 | 北京康力优蓝机器人科技有限公司 | A kind of flexible intelligent module and its manufacture method available for robot |
| CN107856044A (en) * | 2017-12-15 | 2018-03-30 | 浙江大学 | A kind of pneumatic software manipulator and preparation method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108556234A (en) | 2018-09-21 |
| WO2019214177A1 (en) | 2019-11-14 |
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